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for all files in lib folder
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kleiax
2023-10-12 18:45:12 +02:00
parent 61a95e4601
commit db74898b72
41 changed files with 1030 additions and 569 deletions
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lib/Sensors/sensorData.cpp
+20 -20
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@@ -1,5 +1,5 @@
/**
* @file senors.cpp
* @file sensorData.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
@@ -83,32 +83,32 @@ void SensorData::enableCalcCompass()
// TODO: !!! implementieren
}
void SensorData::enableGyroskop()
void SensorData::enableGyroscope()
{
this->gyroskop = new MPU6050();
this->gyroskop->initialize();
if (!this->gyroskop->testConnection())
this->gyroscope = new MPU6050();
this->gyroscope->initialize();
if (!this->gyroscope->testConnection())
{
std::cout << "SensorData::enableGyroskop: Gyroskop is not conntected. Freeze!" << std::endl;
std::cout << "SensorData::enableGyroscope: Gyroskop is not conntected. Freeze!" << std::endl;
while (true)
{
}
}
const uint8_t deviceStatus = this->gyroskop->dmpInitialize();
const uint8_t deviceStatus = this->gyroscope->dmpInitialize();
// TODO: !!! MagicNumer 6x
this->gyroskop->setXGyroOffset(220);
this->gyroskop->setYGyroOffset(76);
this->gyroskop->setZGyroOffset(-85);
this->gyroskop->setZAccelOffset(1788);
this->gyroscope->setXGyroOffset(220);
this->gyroscope->setYGyroOffset(76);
this->gyroscope->setZGyroOffset(-85);
this->gyroscope->setZAccelOffset(1788);
if (deviceStatus == 0)
{
this->gyroskop->CalibrateAccel(6);
this->gyroskop->CalibrateGyro(6);
this->gyroskop->PrintActiveOffsets();
this->gyroskop->setDMPEnabled(true);
this->gyroscope->CalibrateAccel(6);
this->gyroscope->CalibrateGyro(6);
this->gyroscope->PrintActiveOffsets();
this->gyroscope->setDMPEnabled(true);
}
else
{
@@ -116,7 +116,7 @@ void SensorData::enableGyroskop()
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
std::cout << "SensorData::enableGyroskop: DMP Initialization failed (code" << static_cast<int>(deviceStatus) << "). Freeze!" << std::endl;
std::cout << "SensorData::enableGyroscope: DMP Initialization failed (code" << static_cast<int>(deviceStatus) << "). Freeze!" << std::endl;
while (true)
{
}
@@ -236,11 +236,11 @@ void SensorData::run()
this->realAzimuth = this->realCompass->getAzimuth();
}
if (static_cast<bool>(this->gyroskop) && this->gyroskop->dmpGetCurrentFIFOPacket(static_cast<uint8_t *>(this->gyroBuffer)))
if (static_cast<bool>(this->gyroscope) && this->gyroscope->dmpGetCurrentFIFOPacket(static_cast<uint8_t *>(this->gyroBuffer)))
{
this->gyroskop->dmpGetQuaternion(&this->quaternion, static_cast<uint8_t *>(this->gyroBuffer));
this->gyroskop->dmpGetGravity(&this->gravity, &this->quaternion);
this->gyroskop->dmpGetYawPitchRoll(static_cast<float *>(this->yawPitchRoll), &this->quaternion, &this->gravity);
this->gyroscope->dmpGetQuaternion(&this->quaternion, static_cast<uint8_t *>(this->gyroBuffer));
this->gyroscope->dmpGetGravity(&this->gravity, &this->quaternion);
this->gyroscope->dmpGetYawPitchRoll(static_cast<float *>(this->yawPitchRoll), &this->quaternion, &this->gravity);
}
}